.. Comment: this file is automatically generated by `update_example_docs.py`.
   It should not be modified manually.

Record3D visualizer
==========================================


Parse and stream record3d captures. To get the demo data, see ``./assets/download_record3d_dance.sh``.



.. code-block:: python
        :linenos:


        import time
        from pathlib import Path

        import numpy as np
        import tyro
        from tqdm.auto import tqdm

        import viser
        import viser.extras
        import viser.transforms as tf


        def main(
            data_path: Path = Path(__file__).parent / "assets/record3d_dance",
            downsample_factor: int = 4,
            max_frames: int = 100,
            share: bool = False,
        ) -> None:
            server = viser.ViserServer()
            if share:
                server.request_share_url()

            print("Loading frames!")
            loader = viser.extras.Record3dLoader(data_path)
            num_frames = min(max_frames, loader.num_frames())

            # Add playback UI.
            with server.gui.add_folder("Playback"):
                gui_point_size = server.gui.add_slider(
                    "Point size",
                    min=0.001,
                    max=0.02,
                    step=1e-3,
                    initial_value=0.01,
                )
                gui_timestep = server.gui.add_slider(
                    "Timestep",
                    min=0,
                    max=num_frames - 1,
                    step=1,
                    initial_value=0,
                    disabled=True,
                )
                gui_next_frame = server.gui.add_button("Next Frame", disabled=True)
                gui_prev_frame = server.gui.add_button("Prev Frame", disabled=True)
                gui_playing = server.gui.add_checkbox("Playing", True)
                gui_framerate = server.gui.add_slider(
                    "FPS", min=1, max=60, step=0.1, initial_value=loader.fps
                )
                gui_framerate_options = server.gui.add_button_group(
                    "FPS options", ("10", "20", "30", "60")
                )

            # Frame step buttons.
            @gui_next_frame.on_click
            def _(_) -> None:
                gui_timestep.value = (gui_timestep.value + 1) % num_frames

            @gui_prev_frame.on_click
            def _(_) -> None:
                gui_timestep.value = (gui_timestep.value - 1) % num_frames

            # Disable frame controls when we're playing.
            @gui_playing.on_update
            def _(_) -> None:
                gui_timestep.disabled = gui_playing.value
                gui_next_frame.disabled = gui_playing.value
                gui_prev_frame.disabled = gui_playing.value

            # Set the framerate when we click one of the options.
            @gui_framerate_options.on_click
            def _(_) -> None:
                gui_framerate.value = int(gui_framerate_options.value)

            prev_timestep = gui_timestep.value

            # Toggle frame visibility when the timestep slider changes.
            @gui_timestep.on_update
            def _(_) -> None:
                nonlocal prev_timestep
                current_timestep = gui_timestep.value
                with server.atomic():
                    # Update point size.
                    point_nodes[current_timestep].point_size = gui_point_size.value

                    # Toggle visibility.
                    frame_nodes[current_timestep].visible = True
                    frame_nodes[prev_timestep].visible = False
                prev_timestep = current_timestep
                server.flush()  # Optional!

            # Load in frames.
            server.scene.add_frame(
                "/frames",
                wxyz=tf.SO3.exp(np.array([np.pi / 2.0, 0.0, 0.0])).wxyz,
                position=(0, 0, 0),
                show_axes=False,
            )
            frame_nodes: list[viser.FrameHandle] = []
            point_nodes: list[viser.PointCloudHandle] = []
            for i in tqdm(range(num_frames)):
                frame = loader.get_frame(i)
                position, color = frame.get_point_cloud(downsample_factor)

                # Add base frame.
                frame_nodes.append(server.scene.add_frame(f"/frames/t{i}", show_axes=False))

                # Place the point cloud in the frame.
                point_nodes.append(
                    server.scene.add_point_cloud(
                        name=f"/frames/t{i}/point_cloud",
                        points=position,
                        colors=color,
                        point_size=gui_point_size.value,
                        point_shape="rounded",
                    )
                )

                # Place the frustum.
                fov = 2 * np.arctan2(frame.rgb.shape[0] / 2, frame.K[0, 0])
                aspect = frame.rgb.shape[1] / frame.rgb.shape[0]
                server.scene.add_camera_frustum(
                    f"/frames/t{i}/frustum",
                    fov=fov,
                    aspect=aspect,
                    scale=0.15,
                    image=frame.rgb[::downsample_factor, ::downsample_factor],
                    wxyz=tf.SO3.from_matrix(frame.T_world_camera[:3, :3]).wxyz,
                    position=frame.T_world_camera[:3, 3],
                )

                # Add some axes.
                server.scene.add_frame(
                    f"/frames/t{i}/frustum/axes",
                    axes_length=0.05,
                    axes_radius=0.005,
                )

            # Hide all but the current frame.
            for i, frame_node in enumerate(frame_nodes):
                frame_node.visible = i == gui_timestep.value

            # Playback update loop.
            prev_timestep = gui_timestep.value
            while True:
                if gui_playing.value:
                    gui_timestep.value = (gui_timestep.value + 1) % num_frames

                time.sleep(1.0 / gui_framerate.value)


        if __name__ == "__main__":
            tyro.cli(main)